A Frequency Response Approach to Sliding Control Design for Hydraulic Drives

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

Abstract

Sliding modes applied in control structures may generally provide for perfect control performance and robustness toward uncertain bounded parameters and disturbances, in the ideal case with infinite actuator bandwidth and switching frequency. However, in the context of physical systems, such performance cannot be realized due to finite actuator bandwidths and switching frequencies, which, in the case of direct application of sliding control terms, may lead to control chattering and high frequency oscillations in the system states. In order to compensate for this undesirable effect, the application of so-called boundary layers are commonly applied, guaranteeing sliding precision in some well-defined vicinity of the control target. Commonly the control target, or sliding manifold, is designed as some desired closed loop dynamics of the controlled plant, utilizing multiple states as feedback. However, when considering hydraulic cylinder drives, such full state feedback may not be available, and alternative approaches to conventional methods may be considered. This issue is addressed in this paper in regard to tracking control design for valve controlled hydraulic cylinder drives, and a design method taking its offset in linear analysis is proposed. The sliding manifold is designed based on a PI controller design, and the resulting controller provides for robustness outside a predefined boundary layer, and performance equivalent to the PI controller within the boundary layer. Results demonstrate improved tracking accuracy of the proposed controller compared the PI controller, and that performance of these controllers is equivalent within the boundary layer.
Original languageEnglish
Title of host publicationProceedings of the 9th JFPS International Symposium on Fluid Power
Number of pages8
PublisherJapan Fluid Power System Society
Publication dateOct 2014
Pages512-519
ISBN (Electronic)4-931070-10-8
Publication statusPublished - Oct 2014
Event9th JFPS International Symposium on Fluid Power - Matsue, Shimane, Japan
Duration: 28 Oct 201431 Oct 2014

Conference

Conference9th JFPS International Symposium on Fluid Power
CountryJapan
CityMatsue, Shimane
Period28/10/201431/10/2014

Fingerprint

Hydraulic drives
Frequency response
Controllers
Boundary layers
Switching frequency
Actuators
Hydraulics
Bandwidth
State feedback
Robustness (control systems)
Feedback

Keywords

  • Sliding Mode Control
  • Linear Control
  • Hydraulic Systems

Cite this

Schmidt, L., Johansen, P., & Andersen, T. O. (2014). A Frequency Response Approach to Sliding Control Design for Hydraulic Drives. In Proceedings of the 9th JFPS International Symposium on Fluid Power (pp. 512-519). Japan Fluid Power System Society .
Schmidt, Lasse ; Johansen, Per ; Andersen, Torben Ole. / A Frequency Response Approach to Sliding Control Design for Hydraulic Drives. Proceedings of the 9th JFPS International Symposium on Fluid Power. Japan Fluid Power System Society , 2014. pp. 512-519
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abstract = "Sliding modes applied in control structures may generally provide for perfect control performance and robustness toward uncertain bounded parameters and disturbances, in the ideal case with infinite actuator bandwidth and switching frequency. However, in the context of physical systems, such performance cannot be realized due to finite actuator bandwidths and switching frequencies, which, in the case of direct application of sliding control terms, may lead to control chattering and high frequency oscillations in the system states. In order to compensate for this undesirable effect, the application of so-called boundary layers are commonly applied, guaranteeing sliding precision in some well-defined vicinity of the control target. Commonly the control target, or sliding manifold, is designed as some desired closed loop dynamics of the controlled plant, utilizing multiple states as feedback. However, when considering hydraulic cylinder drives, such full state feedback may not be available, and alternative approaches to conventional methods may be considered. This issue is addressed in this paper in regard to tracking control design for valve controlled hydraulic cylinder drives, and a design method taking its offset in linear analysis is proposed. The sliding manifold is designed based on a PI controller design, and the resulting controller provides for robustness outside a predefined boundary layer, and performance equivalent to the PI controller within the boundary layer. Results demonstrate improved tracking accuracy of the proposed controller compared the PI controller, and that performance of these controllers is equivalent within the boundary layer.",
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Schmidt, L, Johansen, P & Andersen, TO 2014, A Frequency Response Approach to Sliding Control Design for Hydraulic Drives. in Proceedings of the 9th JFPS International Symposium on Fluid Power. Japan Fluid Power System Society , pp. 512-519, 9th JFPS International Symposium on Fluid Power, Matsue, Shimane, Japan, 28/10/2014.

A Frequency Response Approach to Sliding Control Design for Hydraulic Drives. / Schmidt, Lasse; Johansen, Per; Andersen, Torben Ole.

Proceedings of the 9th JFPS International Symposium on Fluid Power. Japan Fluid Power System Society , 2014. p. 512-519.

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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N2 - Sliding modes applied in control structures may generally provide for perfect control performance and robustness toward uncertain bounded parameters and disturbances, in the ideal case with infinite actuator bandwidth and switching frequency. However, in the context of physical systems, such performance cannot be realized due to finite actuator bandwidths and switching frequencies, which, in the case of direct application of sliding control terms, may lead to control chattering and high frequency oscillations in the system states. In order to compensate for this undesirable effect, the application of so-called boundary layers are commonly applied, guaranteeing sliding precision in some well-defined vicinity of the control target. Commonly the control target, or sliding manifold, is designed as some desired closed loop dynamics of the controlled plant, utilizing multiple states as feedback. However, when considering hydraulic cylinder drives, such full state feedback may not be available, and alternative approaches to conventional methods may be considered. This issue is addressed in this paper in regard to tracking control design for valve controlled hydraulic cylinder drives, and a design method taking its offset in linear analysis is proposed. The sliding manifold is designed based on a PI controller design, and the resulting controller provides for robustness outside a predefined boundary layer, and performance equivalent to the PI controller within the boundary layer. Results demonstrate improved tracking accuracy of the proposed controller compared the PI controller, and that performance of these controllers is equivalent within the boundary layer.

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Schmidt L, Johansen P, Andersen TO. A Frequency Response Approach to Sliding Control Design for Hydraulic Drives. In Proceedings of the 9th JFPS International Symposium on Fluid Power. Japan Fluid Power System Society . 2014. p. 512-519